CN109155843A - Image projection system and image projecting method - Google Patents
Image projection system and image projecting method Download PDFInfo
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- CN109155843A CN109155843A CN201780030485.0A CN201780030485A CN109155843A CN 109155843 A CN109155843 A CN 109155843A CN 201780030485 A CN201780030485 A CN 201780030485A CN 109155843 A CN109155843 A CN 109155843A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3179—Video signal processing therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
- H04N9/3147—Multi-projection systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
- H04N9/315—Modulator illumination systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
- H04N9/315—Modulator illumination systems
- H04N9/3164—Modulator illumination systems using multiple light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3179—Video signal processing therefor
- H04N9/3185—Geometric adjustment, e.g. keystone or convergence
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3191—Testing thereof
- H04N9/3194—Testing thereof including sensor feedback
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- Physics & Mathematics (AREA)
- Geometry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Projection Apparatus (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Controls And Circuits For Display Device (AREA)
- Transforming Electric Information Into Light Information (AREA)
Abstract
A kind of image projection system, comprising: infrared ray projection device, for projecting pattern image used in shape measure to projection objects；Photographic device, for shooting the pattern image；Content images are converted into projection content images corresponding with the projection objects for obtaining the three-dimensional shape information of the projection objects based on taken pattern image, and based on the three-dimensional shape information by computing device；And visible light projecting device, it is configured in the position different from the infrared ray projection device, and for projecting the projection content images to the projection objects, wherein the image for the non-visible light image that visible images and the infrared ray projection device that the computing device is projected based on the visible light projecting device are projected makes the processing associated with each pixel of the visible images of each pixel of the non-visible light image to execute.
Description
Technical field
The present invention relates to for content images to be projected the projection objects in real time according to the variation of projection objects
Image projection system and image projecting method.
Background technique
It has been known that there is the technologies of referred to as projection mapping to be used as desired content images to be projected building etc.
Projection objects technology.Projection objects usually have 3D shape.Therefore, in the case where original sample project content image, by
In the roughness on the surface of projection objects or the size of depth, thus the spectators in the position separated with projection device may will throw
Shadow image regards distorted image as.Therefore, by measure in advance each point relative to projection objects photographic device each pixel and
Corresponding relationship between projection device carries out corresponding coordinate conversion to content images and projects the content images, can see
To there is no the content images of distortion.
In the case where projection objects are the fixed objects of building etc., measurement is relative to each of projection objects in advance
Correspondence between each pixel and projection device of the photographic device of point, and each pixel based on photographic device and projection device it
Between the corresponding informance of fixation carry out projection mapping.However, it is possible to the continuous variation to vehicle, dancer or sportsman etc.
Projection objects (hereinafter referred to as " moving object ") carry out projection mapping, and it is expected for suitably throwing moving object
The technology of shadow mapping.
However, to the projection of moving object, even if moving object has the low-speed running substantially phase with people
The low-speed motion of same for example, about 1 meter per second, in the processing of about 60 frames/second exemplary video, in measurement camera shooting and throwing used
Also several centimetres of displacement error is generated between shadow.
As the technology for solving the problems, such as measurement and the projection of this high speed and low latency, for example, in WO2015/
In 125403 pamphlet, the image projection system including projection device He at least one photographic device is disclosed.The projection is set
Standby projection indicates the video light of content images and includes figure corresponding with the encoded information of the projection coordinate in projected coordinate system
The pattern light of case image.Projection device has lens optical system, visible LED light source, infrared LED light source and for throwing
A digital micro-mirror device for light of the shadow from the two light sources (hereinafter, referred to " DMD ").According to the image projection system,
The projection of content images and the measurement of projection objects are carried out by same projection device.Therefore, content images can be projected to knot
Desired location on structure object.
It may need that content images are projected to the moving object that high speed changes with higher brightness and higher frame frequency.Cause
This, needs to project for making light source used in projection have high brightness and switch with higher speed in projection mapping
The technology of image.
Particularly, in the case where the projection of full-colour image, even if being set using being projected disclosed in WO2015/125403
It is standby, make the light source of each color of red, blue and green that there is high brightness to be technically also not easy to and be also required to high cost.
In addition, using a DMD, the high speed projection of these four light of red, blue and green these three colors and infrared ray is limited
System, and in addition, to guide the optical system to the mirror of lens optical system etc. extremely complex four kinds of light.
If be separately configured used in visible light projecting device used in visible light source and infrared ray (non-visible light) light source
Infrared ray projection device (that is, if using individual DMD and optical system), then, it is seen that the projected position of light and infrared ray that
This is different, thus except technology in the prior art is such, the pattern based on the infrared ray projected using infrared ray projection device
Outside the measurement processing of distance (in addition, location and shape of projection objects) of the image to measure projection objects, also newly need to carry out
The shooting image of each pixel and photographic device that make the visible images projected from visible light projecting device is (in addition, from infrared ray
Projection device projection infrared view) the associated calibration process of each pixel.
It needs to measure and project simultaneously however, measurement result is projected to without delay in moving object.Particularly,
In order to improve the brightness and quality of video, it is seen that even if light projecting device is desirably in the possible unrecognized short amount of time of people
It is interior, do not stop to measure being projected in the case where projection yet.Photographic device must be in projection not by visible light
Video images non-visible light in the case where hindering, and must in calibration process to visible light and non-visible light this two
Person images.
Quotation list
Patent document
Patent document 1:PCT International Publication WO2015/125403
Summary of the invention
The purpose of the present invention is execute the measurement processing using non-visible light using simple structure and use visible light
Calibration process.
According to aspects of the present invention, a kind of image projection system is provided, it is described for projecting content images to projection objects
Image projection system includes: non-visible light projection device, for projecting shape to the projection objects by using non-visible light
Measurement pattern image used；Photographic device, for shooting the pattern image for projecting the projection objects；Measurement control
Device, for obtaining the three-dimensional shape information of the projection objects based on taken pattern image；Projected image processing
Device, it is corresponding with the projection objects for being converted into pre-prepd content images based on the three-dimensional shape information
Projection content images；It can be seen that light projecting device, configures in the position different from the non-visible light projection device, and
For projecting the projection content to the projection objects simultaneously by using visible light and the non-visible light projection device
Image；And calibration process device, for based on being projected to the non-visible light projection device using the photographic device
The visible images that non-visible light image and the visible light projecting device are projected carry out shooting image obtained, to execute
Make the processing associated with each pixel of the visible images of each pixel of the non-visible light image.
Image projection system according to the present invention can use simple structure and execute the survey carried out using non-visible light
Amount processing and the calibration process using visible light.
Detailed description of the invention
Fig. 1 is the structure chart according to the image projection system of the first exemplary embodiments；
Fig. 2 is to show an exemplary theory that infrared ray projection device is projected, pattern image used in measurement processing
Bright figure；
Fig. 3 is the functional block diagram for showing the details of computing device shown in FIG. 1；
Fig. 4 is the flow chart for showing the process of calibration process of the image projection system according to the first exemplary embodiments；
Fig. 5 is the figure for showing the variation of calibration process shown in Fig. 4；
Fig. 6 is the figure for showing the variation of image projection system shown in FIG. 1；
Fig. 7 is the first exemplary explanatory diagram of application for showing the image projection system according to the first exemplary embodiments；
Fig. 8 is the second exemplary explanatory diagram of application for showing the image projection system according to the first exemplary embodiments；
Fig. 9 is shown according to the third of the image projection system of the first exemplary embodiments using exemplary explanatory diagram；
Figure 10 is the 4th exemplary explanatory diagram of application for showing the image projection system according to the first exemplary embodiments；
Figure 11 is the structure chart according to the image projection system of the second exemplary embodiments；
Figure 12 is the flow chart for showing the process of measurement processing of the image projection system according to the second exemplary embodiments；
Figure 13 is the figure for showing the variation of measurement processing shown in Figure 12；
Figure 14 is the structure chart according to the image projection system of third exemplary embodiments；
Figure 15 is the explanatory diagram for showing the operation of the image projection system according to third exemplary embodiments；
Figure 16 is the flow chart for showing the variation of operation of the image projection system according to third exemplary embodiments；
Figure 17 is the explanatory diagram for showing the processing of the step ST506 in Figure 16；
Figure 18 is the structure chart according to the image projection system of the 4th exemplary embodiments；And
Figure 19 is the figure for showing the variation of image projection system shown in Figure 18.
Specific embodiment
Illustrate exemplary embodiments of the invention below with reference to attached drawing.
First exemplary embodiments
Fig. 1 is the structure chart of the image projection system 1 of the first exemplary embodiments according to the present invention.Image projection system 1
It is the system for project the image for constituting expectation video content the projection mapping of projection objects, and particularly,
Be suitable for moving image to vehicle, dancer or sportsman etc. continually changing projection objects (moving object 2) projection.
Fig. 1 shows moving object 2 in simplified form (for example, cylindrical shape in Fig. 1).
As shown in Figure 1, image projection system 1 specifically includes that infrared ray projection device 3, it is red for being projected to moving object 2
Outer line image；It can be seen that light projecting device 4, for projecting visible images to moving object 2；Photographic device 5 can shoot throwing
It is mapped to the infrared view and visible images of moving object 2；And computing device 6, it is communicatively coupled to equipment 3 and 4
And device 5 is respectively, and executes various processing needed for projection mapping.Infrared ray projection device 3, visible light projecting device 4
It can be only fitted in predetermined position with photographic device 5.
Infrared ray projection device 3 includes: outgoing unit 10, and it includes the lens systems of projection lens etc.；Infrared ray
Light source 11, it includes the infrared LEDs for the light for issuing infrared region；DMD 12, for by selectively making from infrared ray
The light of light source 11 forms the desired infrared view being made of motion picture or static picture to projection lens reflection；And
Unshowned control base board or processor etc., for controlling the operation of infrared light sources 11 or DMD 12.
As infrared light sources 11, LED can be not only used, but also can be using the other known of laser etc.
Light source, as long as can be realized desired brightness.In addition, if light at least non-visible light (people can not visually identify
Black light or the light of visual identity that is corresponding with black light and being not significantly affected by content images), then infrared ray
Projection device (non-visible light projection device) 3 can be by not being used only infrared ray but also using the other of ultraviolet light etc.
Light projects non-visible light image.
It can be seen that light projecting device 4 includes: outgoing unit 15, it includes the lens systems of projection lens etc.；Visible light
Light source 16 comprising issue the white laser of the light of visibility region；DMD (display element) 17a, 17b and 17c, for passing through choosing
Form each light of each color (red, green and blue) from visible light source 16 to projection lens reflection
The desired visible images being made of motion picture or static picture；And unshowned colored substrate or processor etc., it uses
In the operation of control visible light source 16 or DMD 17a~17c.In addition, although being not shown, from the white of visible light source 16
Coloured light resolves into each color by known colour splitting prism, and is directed to DMD 17a~17c corresponding with each color.This
Outside, the light reflected using DMD 17a~17c is projected into moving object 2 from projection lens via colour splitting prism.
It can be seen that the configuration of light projecting device 4 is filled in the position different from least infrared ray projection device 3, and here with camera shooting
5 are set to be configured adjacently (at least than infrared ray projection device 3 closer to photographic device 5, and more preferably close to extremely mutual shell
The degree being almost in contact with each other).Therefore, it is easy to make each pixel of the visible images of visible light projecting device 4 and photographic device 5
Shooting image each pixel it is associated, and calibration process described below can be executed in a simpler manner.
As display element used in visible light projecting device 4, DMD can be not only used, but also can use
The other known display element of liquid crystal display etc., as long as the energy in the projection as the content images of visible images
It is enough to realize expectation frame frequency.In addition, can not only use white laser, but also can use as visible light source 16
LED or mercury vapor lamp etc. other known light source, as long as can be realized desired brightness.
Photographic device 5 be suitable for infrared pick-up and measured based on infrared view moving object 2 position and
The known digital camera of shape, and mainly include having sensitivity (here, to near-infrared the wavelength region of infrared ray
Region have improve sensitivity) unshowned imaging sensor.In addition, ending in photographic device 5 configured with visible light
Optical filter 19, the visible rays cut-off filter 19 are used to prevent the location and shape carried out using infrared ray from measuring by visible light
It hinders.Visible rays cut-off filter 19 configures in the outside (in 2 side of moving object) of unshowned object lens, and as shown in Figure 1
It is removably installed.
The installation and removal of visible rays cut-off filter 19 can be carried out manually by the user of image projection system 1.However, this
Invent it is without being limited thereto, and can by photographic device 5 add optical filter driving device come automatically carry out visible light cut-off filter
The installation and removal of light device 19, wherein the optical filter driving device is for making the position of visible rays cut-off filter 19 in visible light
The installation site and visible rays cut-off filter 19 that cut-off filter 19 is mounted on object lens (outgoing unit 15) are separated from object lens
Releasing position between change.
As described later in detail, in image projection system 1, infrared ray projection device 3 will be by multiple predetermined patterns (frame)
The pattern image of composition projects moving object 2 as infrared image, and photographic device 5 shoots projected pattern image.
Computing device 6 executes distance (the three-dimensional position for measuring every pixel of moving object 2 based on captured pattern image measurement
Set and shape) measurement processing.In addition, computing device 6 is prepared in advance based on the location and shape information of moving object 2 to correct
Visible light content images (that is, carry out coordinate conversion), and visible light projecting device 4 will pass through correction throwing generated
Shadow projects moving object 2 with content images.Therefore, the variation (movement or the variation of shape) regardless of moving object 2, can
The distortions of the visible images that light-exposed projection device 4 is projected or offset are all reduced, and viewer can see it is more good
Content images.
In addition, computing device 6 executes calibration process in image projection system 1, which set visible light projection
Visible images taken by each pixel and photographic device 5 of standby 4 visible images projected shooting image (in addition,
The infrared view that infrared ray projection device 3 is projected) each pixel it is associated.For generating above-mentioned projection content images
Content images correction in conversion parameter between each pixel accessed by result used as the calibration process.Cause
This, or even in the case where the configuration of visible light projecting device 4 is in the position different from infrared ray projection device 3, it is seen that light is thrown
The distortion or offset for the visible images that shadow equipment 4 is projected also are reduced, and viewer can see more good content graph
Picture.
Fig. 2 is an exemplary theory for showing pattern image used in the measurement processing that infrared ray projection device 3 is projected
Bright figure.Pass through the X-coordinate of the DMD12 to the pixel (being here 1024 × 768 pixels) with predetermined quantity and the lattice of Y coordinate
Every carry out Manchester's code of thunder code and the bianry image by the way that Manchester code to be expressed as to black and white come
Obtain the pattern image.
Here, by encoding 10 bit allocations to X-coordinate and Y coordinate to coordinate information.In Fig. 2, X4a and
X4b is the figure of the brightness reversion of the 9th (highest order) pattern for indicating X-coordinate and the complementary image as X4a respectively
Case.X3a and X3b is the figure of the brightness reversion of the 8th pattern for indicating X-coordinate and the complementary image as X3a respectively
Case.X2a and X2b is the figure of the brightness reversion of the 7th pattern for indicating X-coordinate and the complementary image as X2a respectively
Case.
In addition, Y4a and Y4b are the 9th (highest order) pattern for indicating Y coordinate and the complementation map as Y4a respectively
The pattern of the brightness reversion of picture.Y3a and Y3b is the 8th pattern for indicating Y coordinate and the complementary image as Y3a respectively
Brightness reversion pattern.Y2a and Y2b is the 7th pattern for indicating Y coordinate and the complementary image as Y2a respectively
The pattern of brightness reversion.
It include 40 patterns in total of the pattern of expression the 0th for X-coordinate and Y coordinate setting although being not shown.Respectively
The depth information of pixel is intended to remove noise based on the difference signal of image pair complimentary to one another.
Infrared ray projection device 3 by include 20 pairs of images pair complimentary to one another pattern image in predetermined time amount sequentially
Project moving object 2.Photographic device 5 shoots pattern image, and computing device 6 handles these shooting images.Thus, from red
Each pixel in infrared view that outside line projection device 3 projects can be shot in image with taken by photographic device 5
Each pixel is associated.Therefore, the distance (three-dimensional location and shape) of each pixel can be measured based on triangulation.It is surveying
In amount processing, the known treatment for tracking continually changing moving object 2 is can also be performed in computing device 6.
Although this exemplary embodiments is example in the case where 1024 × 768 pixels and has 40 image graphs
Case, but the quantity of picture pattern changes according to the resolution ratio or precision of expectation acquisition.In addition, according to configuration 5 He of photographic device
The condition of infrared ray projection device 3, one of X-coordinate and Y coordinate can be in photographic devices 5 and infrared ray projection device 3
Always it is fixedly associated with, or can be configured in close limit bias internal.In such a case, it is possible to remove or substantially reduce X
The coordinate code of one of coordinate and Y coordinate.
Fig. 3 is the functional block diagram for showing the details of computing device 6 shown in FIG. 1.
In computing device 6, tern generation unit 21 stores pattern image used in measurement processing shown in Fig. 2, and
The information for constituting each pattern of pattern image is sequentially exported by predetermined timing to image output unit 22.Image output unit 22
Picture signal corresponding with each pattern is supplied to infrared ray projection device 3.In addition, image output unit 22 exports image
Regularly send to image input units 23, and to control photographic device 5 single with image output to carry out for image input units 23
The camera shooting of the Timing Synchronization of member 22.In addition, image output unit 22 can make the throwing of the infrared view of infrared ray projection device 3
The projection Timing Synchronization of shadow timing and the visible images of visible light projecting device 4.
The pattern image for projecting moving object 2 is shot using photographic device 5, and acquired shooting image is sent
To image input units 23 and further it is sent to decoding patterns unit 24.For received shooting image, pattern solution
Code unit 24 calculates complementary image to one of them being stored in advance in frame memory unit 25 with the complementary image centering
The difference in terms of frame between another.Therefore, it can be easy to carry out pattern image in the case where not influenced by environment light etc.
Pixel value judge (here as binary value " 0 " and " 1 ").
In code decoding with configuration pin in memory cell 26 to the writing area of each pixel of photographic device 5.Pattern solution
After calculating difference the writing area is written as unit of position in each place value of the Gray code of coordinate data by code unit 24.To 40
A frame executes the processing in following 10 values write-in code decoding memory cell 26, and wherein 10 values indicate
The X of each pixel of the infrared view of infrared ray projection device 3 corresponding with shooting each pixel of image of photographic device 5 is sat
Mark and Y coordinate are respectively.
Therefore, with memory cell 26, finally the pattern image of storage infrared ray projection device 3 and camera shooting fill code decoding
The corresponding informance of each pixel between 5 shooting image is set, and whenever handling a complementary image clock synchronization, by the newest of pixel
Corresponding informance is exported to coordinate transformation unit 27.At this point, by brightness and colouring information and distance (three-dimensional location and shape)
Information etc. is added to the corresponding informance of each pixel as the metrical information of each pixel.Coordinate transformation unit 27 is corresponding based on pixel
While information is ranked up metrical information, the metrical information write-in of each pixel is provided with and infrared ray projection device 3
The coordinate conversion memory cell 28 of the corresponding address of infrared view.Then, coordinate transformation unit 27 is according to infrared ray
The sequence of the coordinate of the infrared view of projection device 3 reads coordinate conversion and uses the value of memory cell 28, and the value is sent out
It send to interpolation of coordinate unit 29.
Interpolation of coordinate unit 29 uses the metrical information of each pixel received from coordinate transformation unit 27, and if not
There are the metrical informations of each pixel, then insertion and deletion information in case of need.The interpolation method considered is for example specific
It is linear interpolation etc. in the case where there is the pixel with effective metrical information in range.
In addition, in computing device 6, in the calibration process that is discussed in detail below, by with above measurement processing phase
With method, each pixel of available pattern image and photographic device 5 to infrared ray projection device 3 shot between image
Corresponding informance, and furthermore, it is possible to by obtained in the same manner using the pattern image of visible light visible light projection set
The corresponding informance of each pixel between standby 4 pattern image and the shooting image of photographic device 5.Therefore, infrared ray can be generated
Between the pattern image (infrared view) of projection device 3 and the pattern image (visible images) of visible light projecting device 4
The corresponding informance of each pixel is as calibration information.
Content memorizer unit 31 stores the texture in the source as the image for projecting to moving object 2, motion diagram the piece number
According to, grid and coloration program etc..These sources are read in response to the request from content generation unit 30, and content is raw
It is generated at unit 30 based on the metrical information and calibration information that are got from interpolation of coordinate unit 29 and projects to moving object 2
Content images are used in projection.Projection content images are sequentially exported to image output unit 22, and image output unit 22 is by phase
The picture signal answered is supplied to visible light projecting device 4.
Computing device 6 is by including that the computer of known hardware is constituted, and although being not shown, is made of for example following:
Processor, for being handled based on predetermined control program come execution information；Volatile memory, the working region as processor
Etc. working；And nonvolatile memory, for control program or data performed by storage processor.Computing device 6
It is also configured to include the integrated circuit being made of ASIC or FPGA.In addition, being calculated with shown in this exemplary embodiments
The identical function of at least part of the function of device 6 is also configured to be added to infrared ray projection device 3, visible light projection
At least one equipment 4 and photographic device 5.
Fig. 4 is the flow chart for showing the process of calibration process of image projection system 1.Image projection system 1 is on carrying out
(for example, when completing the configuration of visible light projecting device 4 or in changing visible light projecting device 4 before stating measurement processing
Zoom setting or focusing setting when) execute calibration process.
As shown in figure 4, in calibration process, it is identical by with above-mentioned measurement processing the case where in a manner of, infrared line projection
Equipment 3 projects pattern image (ST101), and photographic device 5 shoots pattern image (ST102).At this point, visible light light cutoff filter
Device 19 is installed to photographic device 5 (that is, visible light cut-off is in effective status), and photographic device 5 can be by visible light
Influence in the case where shoot infrared view.Then, bat of the computing device 6 based on infrared ray accessed by photographic device 5
Take the photograph image make infrared ray projection device 3 infrared view each pixel and photographic device 5 shooting image each pixel phase
It is associated with (ST103).
Then, the visible rays cut-off filter 19 (ST104) of photographic device 5 is released, therefore photographic device 5 can be to visible
Light is imaged.Then, in a manner of identical by with the measurement processing of above-mentioned infrared ray projection device 3 the case where, it is seen that light is thrown
Shadow equipment 4 projects the pattern image (ST105) of visible light, and photographic device 5 shoots pattern image (ST106).Then, it calculates
Device 6 makes the visible images of visible light projecting device 4 based on the shooting image of visible light accessed by photographic device 5
Each pixel and shooting each pixel of image of photographic device 5 are associated (ST107).Therefore, it is seen that the visible light of light projecting device 4
Each pixel of image can be associated with each pixel of the infrared view of infrared ray projection device 3.
Finally, being once again set up the visible rays cut-off filter 19 (ST108) of photographic device 5, the visible light of photographic device 5 is cut
Only become effectively, then to may be used the measurement processing of infrared view.
Above-mentioned step ST101~ST103 and above-mentioned step ST104~ST108 can be overturned executes sequence.
Fig. 5 is the figure for showing the variation of calibration process shown in Fig. 4.It is imaged although Fig. 4 is shown by installation or removal
Visible rays cut-off filter 19 in device 5 makes it possible to shoot the example of infrared view and visible images, but Fig. 5 is shown
The example of the installation and removal of visible rays cut-off filter 19 is not needed.
As shown in figure 5, executing the step identical as step ST101~ST103 in above-mentioned Fig. 4 in variation
ST201~ST203.Then, computing device 6 controls photographic device 5 and measures (ST204) to increase the time for exposure, then execution and Fig. 4
In the identical step ST205~ST207 of above-mentioned steps ST105~ST107.
Finally, the time for exposure amount of photographic device 5 is restored to a reference value used in the camera shooting of infrared view (ST208),
Then it may be used the measurement processing of infrared view.
Above-mentioned step ST201~ST203 and above-mentioned step ST204~ST208 can be overturned executes sequence.
Fig. 6 is the figure for showing the variation of image projection system 1 shown in FIG. 1.In Fig. 6, identical attached drawing mark is utilized
Note is to specify composition element identical with image projection system 1 shown in FIG. 1.In addition, in addition to following specifically mentioned item,
The case where image projection system 1 according to this modification is with the first exemplary embodiments are identical.
Although above-mentioned Fig. 1 is shown it will be seen that the example that light projecting device 4 and photographic device 5 are configured adjacently, the present invention
It is without being limited thereto.As shown in fig. 6, visible light projecting device 4 can be configured to and infrared ray projection device in image projection system 1
3 are configured adjacently (at least than photographic device 5 closer to infrared ray projection device 3, and it is highly preferred that close to extremely mutual shell
The degree being almost in contact with each other).Therefore, it is easy to throw each pixel of the visible images of visible light projecting device 4 and infrared ray
Each pixel of the infrared view of shadow equipment 3 is associated, and can carry out calibration process in simpler mode.
Fig. 7, Fig. 8, Fig. 9 and Figure 10 are to be shown respectively to answer according to the first of the image projection systems 1 of the first exemplary embodiments
Exemplary explanatory diagram is applied with example to the 4th.Here, it will be illustrated in the projection of video content using in above-mentioned measurement processing
The example of the infrared ray projection device 3 used.
As shown in fig. 7, the infrared ray projection device 3 in image projection system 1 can will hinder image 41 to be used as infrared ray
Image projects the area of at least part (being here facial area) of moving object 2 (being here the performing artist on stage 40)
Domain.Therefore, in the place of NO VIDEO PLEASE, even if being hindered in the case where spectators without approval image performing artist etc.
Image 41 also counteracts camera shooting.Fig. 7 show using by the infrared view of the figure constitution of predetermined shape (being here circle) as
The superposition of image 41 is hindered to cover the example of a part of moving object 2.
Infrared view is projected from infrared ray projection device 3 using the relatively stronger light of near infrared region, accordingly even when
It also can use in the case where spectators are using for the camera to visible image capturing to image and hinder the negative of image 41
Effect influences taken visible images.Hinder the object of image 41 that can be limited to multiple performing artists in addition, being projected
Or a part of show piece is (for example, it is desired to weigh the performing artist of protection by so-called image or need through copyright protection
Things).
In addition, hindering image 41 to be not limited to above-mentioned shape, and can be for example shown in Fig. 8 includes desired character information
The infrared view of (being here the alert message to spectators).Therefore, the sight imaged without approval can effectively be caused
Many attentions.
In addition, as shown in figure 9, the infrared ray projection device 3 in image projection system 1 can be by decorative picture 51 as red
Outer line image projects the periphery of moving object 2.Fig. 9 show by include by expectation character and figure constitution information (here for
To the congratulations message and figure of bride and groom) decorative picture 51 project moving object 2 (here as infrared view
For the bride and groom in wedding) example.Therefore, when by taken image developing (or display is over the display),
It can expect that photographer's (participant etc. of wedding) is pleasantly surprised by the decorative picture 51 that first time can visually identify
Or it is happy.
Infrared view is projected using the relatively stronger light of the near infrared region from infrared ray projection device 3, in this way
Even if decorative picture 51 can also be made in the case where photographer is using for the camera to visible image capturing to image
It appears in shooting image.
In addition, decorative picture 51 is not limited to the decorative picture in above-mentioned wedding example.For example, as shown in Figure 10, such as
In the sight spot of haunted house etc., decorative picture 51 can be projected into moving object 2 (being here visitor) as infrared view
Periphery.
Second exemplary embodiments
Figure 11 is the structure chart of the image projection system 1 of the second exemplary embodiments according to the present invention.In Figure 11, utilize
Identical appended drawing reference specifies composition element identical with image projection system 1 shown in FIG. 1.In addition, especially being mentioned except following
And item other than, according to the image projection system 1 of the second exemplary embodiments with the first exemplary embodiments the case where is identical.
Although the first above-mentioned exemplary embodiments, which are shown, projects infrared view by using an infrared ray projection device 3
Example, but moving object 2 have relatively wide moving area (for example, stage 40 shown in Figure 11) in the case where, it is red
The luminous intensity of outer linear light source 11 may be insufficient.
Therefore, multiple in the image projection system 1 according to the second exemplary embodiments (being here two) infrared line projections
Equipment 3L and 3R share view field.More specifically, the first infrared ray projection device 3L for being configured at left side can be by infrared ray
Image projects the left area of stage 40, and the second infrared ray projection device 3R for being configured at right side can be by infrared line chart
Right area as projecting stage 40.The view field of infrared ray projection device 3L and 3R are partially overlapped by each other in center.Separately
Outside, infrared ray projection device 3L and 3R configuration than visible light projecting device 4 closer to the position (front) of moving object 2.Benefit
With the structure, image projection system 1 realizes the feelings with the luminous intensity for increasing the infrared light sources 11 in infrared ray projection device 3
The identical effect of condition.
Figure 12 is the flow chart for showing the process of measurement processing of the image projection system 1 according to the second exemplary embodiments.
In measurement processing, it is identical by with the first above-mentioned exemplary embodiments the case where in a manner of, the first infrared ray projection device 3L is thrown
It penetrates pattern image (ST201), and photographic device 5 shoots pattern image (ST202).Then, computing device 6 is based on photographic device
Image is shot accessed by 5 by the shooting figure of each pixel of the infrared view of infrared ray projection device 3 and photographic device 5
Each pixel of picture is associated, and measures distance (location and shape) (ST303) related with each pixel.
In the successful situation of measurement processing in step ST303 (being "Yes" in ST304), the judgement movement of computing device 6
Object 2 whether positioned at the first infrared ray projection device 3L view field right end (here for it is shown in Figure 11 second infrared
The region of view field's overlapping of line projection equipment 3R) (ST305).Then, the first infrared ray is not located in moving object 2 to throw
In the case where the right end of the view field of shadow equipment 3L (in ST305 be "No"), be back to step ST301, and execute with it is upper
State identical processing.
On the other hand, in the case where moving object 2 is located at the right end of the view field of the first infrared ray projection device 3L
(ST305 is "Yes"), the second infrared ray projection device 3R replace the first infrared ray projection device 3L to project pattern image
(ST306), and photographic device 5 shoots pattern image (ST307).Then, in a manner of identical with above-mentioned step ST303,
Computing device 6 is by each pixel phase of the shooting image of each pixel of the infrared view of infrared ray projection device 3 and photographic device 5
Association, and measure distance (location and shape) (ST308) related with each pixel.
In the successful situation of measurement processing in step ST308 (being "Yes" in ST309), the judgement movement of computing device 6
Object 2 whether positioned at the second infrared ray projection device 3R view field left end (here for it is shown in Figure 11 first infrared
The region of view field's overlapping of line projection equipment 3L) (ST310).Then, the second infrared ray is not located in moving object 2 to throw
In the case where the left end of the view field of shadow equipment 3R (in ST310 be "No"), be back to step ST306, and execute with it is upper
State identical processing.On the other hand, the feelings of the left end of the view field of the second infrared ray projection device 3R are located in moving object 2
Under condition (being "Yes" in ST310), it is back to step ST301, and execute processing same as described above.
Figure 13 is the figure for showing the variation of measurement processing shown in Figure 12.It is based on passing through measurement processing although Figure 12 is shown
The location information of accessed moving object 2 sets the first infrared ray projection device 3L and the second infrared line projection to determine
Which of standby 3R is used in the example in the projection of infrared view, but Figure 13 shows and detects moving object using position sensor
The example of 2 position.It is, for example, possible to use gravity sensor of the configuration on the floor of stage 40 shown in Figure 11 as position
Sensor.
As shown in figure 13, in the variation, firstly, detecting the position of moving object 2 using position sensor
(ST401).Then, computing device 6 obtains the testing result of the position of moving object 2, and judges whether the position is located at pair
As the left side of the base position (being here center) of region (for example, stage 40 shown in Figure 11) region in (ST402).
Then, in the case where in the region in the left side that moving object 2 is located at the reference position (being "Yes" in ST402), the
One infrared ray projection device 3L projects pattern image (ST403), and photographic device 5 shoots pattern image (ST404).Then,
In a manner of identical with the step ST303 in Figure 12, computing device 6 is by the infrared view of the first infrared ray projection device 3L
Each pixel is associated with shooting each pixel of image of photographic device 5, and measures related with each pixel distance (position and shape
Shape) (ST405).
On the other hand, (it is in ST402 in the case where in the region on the right side that moving object 2 is located at the reference position
"No"), the second infrared ray projection device 3R projects pattern image (ST406), and photographic device 5 shoots pattern image
(ST407).Then, in a manner of identical with the step ST306 in Figure 12, computing device 6 is by the second infrared ray projection device 3R
Infrared view each pixel it is associated with shooting each pixel of image of photographic device 5, and measure it is related with each pixel
Distance (location and shape) (ST408).
Then, above-mentioned step ST401~ST408 is repeated in image projection system 1.
Third exemplary embodiments
Figure 14 is the structure chart of the image projection system 1 of third exemplary embodiments according to the present invention, and Figure 15 is to show
Out according to the explanatory diagram of the operation of the image projection system 1 of third exemplary embodiments.In Figure 14, identical appended drawing reference is utilized
To specify composition element identical with image projection system 1 shown in FIG. 1.In addition, in addition to following specifically mentioned item, root
The case where according to the image projection system 1 of third exemplary embodiments with the first exemplary embodiments or the second exemplary embodiments, is identical.
Although being cut according to the image projection system 1 of above-mentioned the first exemplary embodiments and the second exemplary embodiments in visible light
It is shown in the example that only optical filter 19 is configured in photographic device 5, but as shown in figure 14, is not provided with visible light cut-off filter here
Light device 19.
In addition, in above-mentioned the first exemplary embodiments and the second exemplary embodiments, although visible light projecting device 4 can
The projection of light-exposed image (projection content images) is in ON (unlatching) state always, but as shown in figure 15, here from visible
The projection of the visible images of light projecting device 4 is periodically in OFF (closing) state.In the OFF state of visible images
In, the projection of infrared view (pattern image) is arranged to ON state by infrared ray projection device 3.Visible images are in OFF
The time quantum of state is arranged to be short to since thus people (spectators etc.) cannot identify under the brightness of visible images OFF state
The time quantum of the degree of drop.
That is, photographic device 5 is in it can shoot in the case where the projection of visible images is on state
Hold the state of image (that is, shooting that infrared view may be hindered), and is in OFF state in the projection of visible images
In the case where (that is, the projection of infrared view is on state), photographic device 5, which is in, not will receive content images
The state of infrared view is shot in the case where influence.Therefore, computing device 6 can be based on red accessed by photographic device 5
The shooting image of outer line image (pattern image) executes measurement processing same as described above.
Figure 16 is the flow chart for showing the variation of operation of the image projection system 1 according to third exemplary embodiments, and
And Figure 17 is the explanatory diagram for showing the processing of the step ST506 in Figure 16.
In above-mentioned example shown in figure 15, although can temporarily be arranged to OFF shape by will be seen that the projection of light image
State shoots infrared view without using visible rays cut-off filter, but this deformation exemplifies using infrared
Projected visible-light image (content images) (fills that is, infrared ray and visible light are incident on camera shooting always in the measurement processing of line image
Set on 5) example.
As shown in figure 16, firstly, visible light projecting device 4 starts projection projecting moving object 2 with content images
(ST501), then the first pattern (frame) is projected moving object 2 (ST502) by infrared ray projection device 3.First pattern is corresponding
An image of image pair complimentary to one another in above-mentioned pattern image.Then, photographic device 5 images to obtain the first pattern
Take the first shooting image (ST503).
Then, the second pattern (frame) is projected moving object 2 (ST504) by infrared ray projection device 3.Second pattern is
The inversion pattern of one pattern, and correspond to another image of image pair complimentary to one another in above-mentioned pattern image.Then, it takes the photograph
As device 5 images to obtain the second shooting image (ST505) the second pattern.Then, computing device 6 obtains the first shooting image
And the second difference image between shooting image, and measurement processing (ST506) is executed based on the difference image.
More specifically, it includes the of infrared ray shown in 17 (A) that the first shooting image got in step ST503, which removes,
It further include the content images of visible light outside one pattern.In addition, the second shooting image got in step ST505 removes and includes
It further include the content images of visible light outside second pattern of the infrared ray as shown in Figure 17 (B).Therefore, as shown in Figure 17 (C),
Computing device 6 can make first count take the photograph image and the by calculating the difference between the first shooting image and the second shooting image
The content images of visible light in two shooting images are offset, and obtain the shooting image of highlighted first pattern as poor
Partial image.Computing device 6 can execute measurement processing by using difference image in a manner of identical with above situation.
Then, computing device 6 is generated by being corrected based on the result of measurement processing to content images in projection use
Hold image, and visible light projecting device 4 is made to project the projection content images (ST507).Repeat step ST502~ST507
Processing, until the projection of all the elements image is finally completed (in ST508 be "Yes").
4th exemplary embodiments
Figure 18 is the structure chart of the image projection system 1 of the 4th exemplary embodiments according to the present invention, and Figure 19 is to show
The figure of the variation of image projection system 1 shown in Figure 18 out.In Figure 18 and Figure 19, specified using identical appended drawing reference
Composition element identical with image projection system 1 shown in FIG. 1.In addition, in addition to following specifically mentioned item, according to the 4th
Any exemplary embodiments of the image projection system 1 of exemplary embodiments and the first exemplary embodiments into third exemplary embodiments
Situation is identical.
Although the first above-mentioned exemplary embodiments to third exemplary embodiments show visible light projecting device 4 and camera shooting dress
5 examples for being projected and being imaged by using individual optical system respectively are set, but as shown in figure 18, according to the 4th allusion quotation
In the image projection system 1 of type embodiment, configured between the visible light projecting device 4 configured adjacent to each other and photographic device 5
There is heat mirror 61.
Heat mirror 61 reflects the infrared ray being incident on photographic device 5 from infrared ray projection device 3 and (is reflected by moving object 2
Infrared ray), and by the visible rays cut-off filter 19 (objective system) of the heat homing to photographic device 5.Heat mirror 61
Penetrate the visible images projected from visible light projecting device 4 to moving object 2.Using the structure, in image projection system 1
In can be highly precisely and taken by photographic device 5 from each pixel of visible images that visible light projecting device 4 projects
Shooting image each pixel it is associated.As a result, it may not be necessary to above-mentioned calibration process.
As shown in the variation of Figure 19, heat mirror 61 can be configured to configure the infrared ray projection device configuring adjacent to each other
Between 3 and visible light projecting device 4.In this case, heat mirror 61 reflects the infrared ray projected from infrared ray projection device 3 simultaneously
The infrared ray is guided to moving object 2, and heat mirror 61 makes the visible light projected from visible light projecting device 4 to moving object 2
Image penetrates.Using the structure, each picture of the visible images projected in image projection system 1 from visible light projecting device 4
Element can be highly precisely associated with each pixel of infrared view projected from infrared ray projection device 3.Accordingly, it is possible to not
Need above-mentioned calibration process.
Although illustrating the present invention based on specific exemplary embodiments above, these exemplary embodiments are only used for illustrative mesh
, and the present invention is not restricted to these exemplary embodiments.Image projection system and image projecting method may not necessarily include all
Element, and these elements at least can be optionally selected in the degree without departing from the scope of the present invention.
Reference signs list
1 image projection system
2 moving objects
3 infrared ray projection devices
4 visible light projecting devices
5 photographic devices
6 computing devices
10 outgoing units
11 infrared light sources
12 DMD (digital micro-mirror device)
16 visible light sources
15 outgoing units
17a, 17b, 17c DMD (digital micro-mirror device)
19 visible rays cut-off filters
21 tern generation units
22 image output units
23 image input units
24 decoding patterns units
25 frame memory units
26 code decoding memory cells
27 coordinate transformation units
Memory cell is used in the conversion of 28 coordinates
29 interpolation of coordinate units
30 content generation units
31 content memorizer units
40 stages
41 hinder image
51 decorative pictures
61 heat mirrors
Claims (9)
1. a kind of image projection system, for projecting content images to projection objects, described image optical projection system includes:
Non-visible light projection device, for projecting pattern used in shape measure to the projection objects by using non-visible light
Image；
Photographic device, for shooting the pattern image for projecting the projection objects；
Measuring and controlling, for obtaining the three-dimensional shape information of the projection objects based on taken pattern image；
Projected image processing unit, for being converted into pre-prepd content images and institute based on the three-dimensional shape information
State the corresponding projection content images of projection objects；
It can be seen that light projecting device, configure in the position different from the non-visible light projection device, and for by using
Visible light and the non-visible light projection device project the projection content images to the projection objects simultaneously；And
Calibration process device, for non-visible based on being projected using the photographic device to the non-visible light projection device
The visible images that light image and the visible light projecting device are projected carry out shooting image obtained, come execute make it is described
Each pixel of non-visible light image and the associated processing of each pixel of the visible images.
2. image projection system according to claim 1, wherein
The visible light projecting device has independent display element corresponding with each color used respectively.
3. image projection system according to claim 1, wherein
The visible light projecting device is configured adjacently with the photographic device.
4. image projection system according to claim 1, wherein
The visible light projecting device is configured adjacently with the non-visible light projection device.
5. image projection system according to claim 1, wherein
Visible rays cut-off filter is configured in a manner of it can releasably install in the photographic device.
6. a kind of image projecting method, for projecting content images to projection objects, described image projecting method includes:
Pattern image used in shape measure is projected to the projection objects using non-visible light projection device；
The pattern image of the projection objects is projected using photographic device shooting；
The three-dimensional shape information of the projection objects is obtained based on taken pattern image；
Pre-prepd content images are converted into throwing corresponding with the projection objects based on the three-dimensional shape information
Shadow content images；
Using the visible light projecting device for being configured at the position different from the non-visible light projection device, by using visible light
To project the projection content images to the projection objects；And
Based on the non-visible light image that is projected using the photographic device to the non-visible light projection device and described visible
The visible images that light projecting device is projected carry out shooting image obtained, make each of the non-visible light image to execute
Pixel calibration process associated with each pixel of the visible images.
7. image projecting method according to claim 6, wherein
Visible rays cut-off filter is configured in the photographic device, when receiving the light of the pattern image using described visible
Light cut-off filter, and the visible rays cut-off filter is released when receiving the light of the projection content images.
8. image projecting method according to claim 6, wherein
The photographic device can change time for exposure amount, and
Compared with receiving the situation of light of the pattern image, in the case where receiving the light of the projection content images, make
The time for exposure amount is bigger.
9. image projecting method according to claim 6, wherein
In the projection using the non-visible light projection device, sequentially projection includes the figure with the pattern of mutual inverse relation
As to as the pattern image,
In the shooting using the photographic device, sequentially the image that sequentially projects of shooting to with the image to identical
The projection content images of timing projection, and
When obtaining the shape information of the projection objects, the bat based on the described image pair that the photographic device sequentially takes
The difference image taken the photograph between image obtains the three-dimensional shape informations of the projection objects.
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| CN113473094A (en) * | 2020-03-30 | 2021-10-01 | 精工爱普生株式会社 | Setting support method and setting support device |
| CN113473094B (en) * | 2020-03-30 | 2024-04-02 | 精工爱普生株式会社 | Setting aid methods and setting aid devices |
| CN114166149A (en) * | 2020-09-10 | 2022-03-11 | 精工爱普生株式会社 | Three-dimensional shape measuring method and three-dimensional shape measuring device |
| CN112153303A (en) * | 2020-09-28 | 2020-12-29 | 广州虎牙科技有限公司 | Visual data processing method and device, image processing equipment and storage medium |
| CN112153303B (en) * | 2020-09-28 | 2021-09-21 | 广州虎牙科技有限公司 | Visual data processing method and device, image processing equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112954288B (en) | 2023-02-24 |
| CN109155843B (en) | 2021-03-16 |
| JP2017215374A (en) | 2017-12-07 |
| EP3466061B1 (en) | 2023-04-19 |
| US20170347076A1 (en) | 2017-11-30 |
| CN112954288A (en) | 2021-06-11 |
| US9832436B1 (en) | 2017-11-28 |
| WO2017208739A1 (en) | 2017-12-07 |
| EP3466061A1 (en) | 2019-04-10 |
| EP4216541A1 (en) | 2023-07-26 |
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